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AP_DroneCAN: force DroneCAN zero throttle when disarmed 

if a user has set CAN_D1_UC_ESC_RV which is the mask of ESCs that are
reversible we were sending -8191 when disarmed, which is full reverse
throttle. This is the correct output when armed as it is treated as
full reverse at "PWM" 1000 and stopped at 1500, but when disarmed we
should always send zero or the user may find all ESCs spin up at full
reverse when disarmed if the ESC supports reverse throttle (which is
rare in DroneCAN ESCs)
This commit is contained in:
Andrew Tridgell 2024-10-14 12:10:26 +11:00
parent 84a5cc69a6
commit 996b36531b
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_DroneCAN/AP_DroneCAN.cpp
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@ -844,9 +844,9 @@ void AP_DroneCAN::SRV_send_esc(void)
// if at least one is active (update) we need to send to all // if at least one is active (update) we need to send to all
if (active_esc_num > 0) { if (active_esc_num > 0) {
k = 0; k = 0;
const bool armed = hal.util->get_soft_armed();
for (uint8_t i = esc_offset; i < max_esc_num && k < 20; i++) { for (uint8_t i = esc_offset; i < max_esc_num && k < 20; i++) {
if ((((uint32_t) 1) << i) & _ESC_armed_mask) { if (armed && ((((uint32_t) 1U) << i) & _ESC_armed_mask)) {
esc_msg.cmd.data[k] = scale_esc_output(i); esc_msg.cmd.data[k] = scale_esc_output(i);
} else { } else {
esc_msg.cmd.data[k] = static_cast<unsigned>(0); esc_msg.cmd.data[k] = static_cast<unsigned>(0);
@ -897,9 +897,9 @@ void AP_DroneCAN::SRV_send_esc_hobbywing(void)
// if at least one is active (update) we need to send to all // if at least one is active (update) we need to send to all
if (active_esc_num > 0) { if (active_esc_num > 0) {
k = 0; k = 0;
const bool armed = hal.util->get_soft_armed();
for (uint8_t i = esc_offset; i < max_esc_num && k < 20; i++) { for (uint8_t i = esc_offset; i < max_esc_num && k < 20; i++) {
if ((((uint32_t) 1) << i) & _ESC_armed_mask) { if (armed && ((((uint32_t) 1U) << i) & _ESC_armed_mask)) {
esc_msg.command.data[k] = scale_esc_output(i); esc_msg.command.data[k] = scale_esc_output(i);
} else { } else {
esc_msg.command.data[k] = static_cast<unsigned>(0); esc_msg.command.data[k] = static_cast<unsigned>(0);